A theory of self-calibration of a moving camera
International Journal of Computer Vision
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Statistical Optimization for Geometric Computation: Theory and Practice
Statistical Optimization for Geometric Computation: Theory and Practice
Robot Vision
Camera Self-Calibration: Theory and Experiments
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Multilinear Constraints in the Infinitesimal-time Case
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Robust monocular detection of independent motion by a moving observer
IWCM'04 Proceedings of the 1st international conference on Complex motion
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Under certain assumptions, a moving camera can be self-calibrated solely on the basis of instantaneous optical flow. However, due to a fundamental indeterminacy of scale, instantaneous optical flow is insufficient to determine the magnitude of the camera's translational velocity. This is equivalent to the baseline length indeterminacy encountered in conventional stereo self-calibration. In this paper we show that if the camera is calibrated in a certain weak sense, then, by using time-varying optical flow, the velocity of the camera may be uniquely determined relative to its initial velocity. This result enables the calculation of the camera's trajectory through the scene over time. A closed-form solution is presented in the continuous realm, and its discrete analogue is experimentally validated.